CN103568015B - Force-controlled electric hand - Google Patents
Force-controlled electric hand Download PDFInfo
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- CN103568015B CN103568015B CN201310314716.4A CN201310314716A CN103568015B CN 103568015 B CN103568015 B CN 103568015B CN 201310314716 A CN201310314716 A CN 201310314716A CN 103568015 B CN103568015 B CN 103568015B
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- Prior art keywords
- finger
- pair
- pedestal
- finger pedestal
- electric hand
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a force-controlled electric hand comprising a rotary-linear motion conversion mechanism for converting the rotary motion from an electric motor to the linear motion; a pair of finger bases which moves linearly in parallel with a first axial line through the rotary-linear motion conversion mechanism by power from the electric motor; a pair of fingers fixed to the pair of finger bases to grip a target workpiece (W) by linear motion of the movable finger base; and a force sensor provided at least at one of the pair of finger bases to detect gripping force of the pair of fingers. The force sensor has a pair of parallel beams extending in parallel with a second axial line vertical to the first axial line and detects the gripping force (F) based on an amount of displacement of the parallel beams in a direction of the first axial line.
Description
Technical field
The present invention relates to, by electrical motor driven finger, electric hand is controlled to the power that holding object holds.
Background technology
Control electric hand as this power, be known to the robot be arranged on industrial robot.When using robot to hold holding object, in order to tackle the holding object of various shape, preferably easily hold can be adjusted.Such as, following grasping device is described in Japanese Unexamined Patent Publication 2011-183513 publication (JP2011-183513A), via reducing gear, rotation direct action converting mechanism is driven by electro-motor, and there is a pair finger of carrying out on-off action by rotating direct action converting mechanism.Device described in this JP2011-183513A adjusts motor current according to the characteristic determined by experiment etc. in advance, thus adjustment hold.
In the device described in JP2011-183513A, at reducing gear, rotate the drive division generation frictions such as direct action converting mechanism, motor torque is because of friction minimizing.This friction changes due to the lubricating status, temperature, timeliness change etc. of drive division, as the device described in JP2011-183513A, thus only adjusts motor current, be difficult to precision and control hold well.
On the other hand, be known to detect the hold of finger and control the device of electro-motor according to its testing result.Such as, in the device described in Japanese Unexamined Patent Publication 2011-194523 publication (JP2011-194523A), along the direct acting parts of rotating shaft movement rotated by electrical motor driven with and hold between connecting member that parts link and possess the elastomeric element be made up of rubber, foamed resin, according to the displacement calculation hold of bullet domestic animal parts.
But, the easy Yin Wendu of elastic modelling quantity of the elastomeric element described in JP2011-194523A and changing, and extend there is hysteresis characteristic between contraction.In addition, material behavior easily changes owing to changing year in year out, also has the worry of swelling due to the immersion of lubricating oil, moisture.Therefore, precision is difficult to well and stably detect hold.
Summary of the invention
According to a scheme of the present invention, power controls electric hand and possesses electro-motor; Rotate direct action converting mechanism, the spinning movement from electro-motor is transformed to straight action; A pair finger pedestal, comprise utilize the power of electro-motor via rotate direct action converting mechanism and with the movable finger pedestal of first axle straight movement abreast; A pair finger, to be individually fixed on a pair finger pedestal and to hold holding object by the straight movement of movable finger pedestal; And force snesor, be located at least one the finger pedestal in a pair finger pedestal and detect the hold of a pair finger.Force snesor has relative to the pair of parallel beam that extends of second axis being parallel vertical with first axle ground, detects hold based on this parallel girder at the displacement in first axle direction.
Accompanying drawing explanation
Object of the present invention, feature and advantage can in the explanation of the following embodiment relevant to accompanying drawing clearly.In figure:
Fig. 1 represents that the power of the first embodiment of the present invention controls the integrally-built stereogram of electric hand.
Fig. 2 represents that the power of the first embodiment of the present invention controls the longitudinal sectional view of the major part structure of electric hand.
Fig. 3 is the figure of the detailed construction of the force snesor representing Fig. 2.
Fig. 4 represents that the power of the second embodiment of the present invention controls the longitudinal sectional view of the major part structure of electric hand.
Detailed description of the invention
First embodiment
Below, with reference to Fig. 1 ~ Fig. 3, the first embodiment of the present invention is described.Fig. 1 be represent the first embodiment of the present invention power control below electric hand 100(, also have the situation simply referred to as electric hand) integrally-built stereogram.The arm leading section that this electric hand 100 is such as arranged on industrial robot holds holding object (following, also to have the situation simply referred to as object), and having can a pair finger (with reference to Fig. 2) of opening and closing, but omits its diagram in Fig. 1.
In addition, below, for ease of illustrating, illustrated three mutually orthogonal directions are defined as fore-and-aft direction, left and right directions and above-below direction, according to the structure in each portion of this defined declaration.Left and right directions is the direction of a pair finger opening and closing, and above-below direction is the direction that finger extends.As shown in Figure 1, electric hand 100 has the shell 1 of the cubic shaped of lower aperture, in shell 1, be configured with component parts.
Fig. 2 is the longitudinal sectional view of Fig. 1 of the major part structure of the electric hand 100 representing the first embodiment.As shown in Figure 2, electric hand 100 has electro-motor 2, the spinning movement of electro-motor 2 is transformed to the rotation direct action converting mechanism 10 of straight action, carries out a pair finger pedestal 3 of straight movement via rotation direct action converting mechanism 10 and be fixed on a pair finger 4 of a pair finger pedestal 3.
Left space SP1, upper space SP2 and lower space S P3 tri-spaces are divided into by the next door 1a extended along the vertical direction and the next door 1b extended in left-right direction in shell 1.Being configured with at upper space SP2 can the electro-motor 2 of positive and negative rotation.The output shaft 2a of electro-motor 2 gives prominence to the left from the left side of electro-motor 2, and through next door 1a.In addition, at upper space SP2, and control circuit 5 is configured with on the right side of electro-motor 2.
The transmission mechanism 6 rotation of electro-motor 2 being passed to and rotating direct action converting mechanism 10 is configured with at left space SP1.Transmission mechanism 6 is made up of gear or Timing Belt and pulley etc.In addition, in Fig. 2, the gear 6a linked by the leading section of the output shaft 2a with electro-motor 2 and the below that is configured at gear 6a and with gear 6a meshed gears 6b to form transmission mechanism 6.Transmission mechanism 6 is double makees reducing gear, slows down to the rotation of electro-motor 2, and increases torque.
Be configured with at lower space S P3 and rotate direct action converting mechanism 10.Rotate pair of right and left nut 12 that direct action converting mechanism 10 has feed screw 11 that axis L1 in left-right direction extends, is screwed with feed screw 11, cover nut 12 side face drum nut cap 13, be fixed on the pair of right and left slide block 14 on the side face of nut cap 13 and limit the guide 15 of moving direction of slide block 14.In addition, in pair of right and left nut 2, also represent the nut in left side with 12a, represent the nut on right side with 12b.The through next door 1a in left part of feed screw 11 and being supported in the mode that can rotate, and link with the rotating shaft of gear 6b.The right part of feed screw 11 links with the rotation detector 7 being fixed on shell 1 inner surface, is detected the anglec of rotation of feed screw 11 by rotation detector 7.
Signal from rotation detector 7 inputs to control circuit 5, and such as, the anglec of rotation for feed screw 11 controls (SERVO CONTROL).In addition, when the electro-motor 2 of SERVO CONTROL is built-in with rotation detector, this rotation detector 7 is not needed.The motor of the not built-in rotation detector such as d.c. motor of cheapness is directly difficult in conjunction with rotation detector, but in the present embodiment, because the end of the feed screw 11 in the side contrary with transmission mechanism 6 links rotation detector 7, thus can easily and carry out the link of rotation detector 7 at an easy rate.
Feed screw 11 has with left and right directions central portion, and to be boundary be formed at the threaded portion 11a in left side and be formed at the threaded portion 11b on right side.Such as, threaded portion 11a is forward screw thread (right-handed thread), and threaded portion 11b is reverse thread (left hand thread).Nut 12a, 12b that outer peripheral face is barrel surface is screwed respectively at these threaded portions 11a, 11b.Radial outstanding flange part 12c is respectively equipped with in the right part of the left part of nut 12a and nut 12b.Nut 12a, 12b are chimeric with the inner peripheral surface of the nut cap 13 of drum, utilize the bolt (not shown) of through flange part 12c, respectively nut 12a, 12b are integrally anchored on nut cap 13.
Guide 15 is the guide rails extended in left-right direction, is fixed on the lower surface of next door 1b.Slide block 14 is fixed on the top of the outer peripheral face of nut cap 13.Slide block 14 such as section, in " コ " shape, configures in mode before holder guide 15 and below, and can coordinate with guide 15 slidably via the front-back of the lubricating components such as bead along guide 15.Stop the rotation of nut 12 thus, nut 12 only can move integratedly in left-right direction with nut cap 13 and slide block 14.
The bottom of the nut cap 13 in left and right, the side of namely installing the radial direction of the installation position of slide block 14 clipping nut 12 contrary are fixed with force snesor 20 respectively.Force snesor 20 detects the hold of power, the i.e. finger 4 in the opening and closing direction of finger 4, its detailed configuration aftermentioned.The finger pedestal 3 that section that protuberance 3a gives prominence to is convex form is fixed with downwards in the bottom of force snesor 20.Screwed hole 3b(is provided with reference to Fig. 1 at the protuberance 3a of finger pedestal 3), finger 4 is detachably installed on finger pedestal 3 by bolt (not shown).
Finger 4 extends along the vertical direction, is provided with in leading section (bottom) the protuberance 4a that side (inside left and right directions) is outstanding in the lateral direction.Finger 4 is installed on finger pedestal 3 in the mode that above-below direction phase co-altitude is opposed mutually with protuberance 4a.Use the finger 4 being designed to suitable length, shape with the size of holding object, weight accordingly.
In above structure, if electro-motor 2 rotates, then the rotation of electro-motor 2 is passed to feed screw 11 via transmission mechanism 6, thus feed screw 11 rotates.Thus, slide block 14 by guide 15 moving-limiting direction, and moves in left-right direction together with nut 12.In this situation, because threaded portion 11a, 11b of the left and right of feed screw 11 are formed mutually on the contrary, thus a pair nut 12a, 12b and axis L1 abreast as shown by arrow A mutually to the left and right rightabout move linearly.By the movement of this nut 12a, 12b, make a pair finger 4 close to or be separated, carry out on-off action, namely can carry out the holding action of object W.
In the on-off action of finger 4, the anglec of rotation of feed screw 11 is detected by rotation detector 7, and detection signal is input to control circuit 5.Control circuit 5 can based on from be located at electric hand 100 outside not shown control device command signal and from the detection signal of rotation detector 7, FEEDBACK CONTROL is carried out to electro-motor 2, the position of finger 4 can be controlled thus.Also the detection signal of the hold detected by force snesor 20 is inputted to control circuit 5.Thus, control circuit 5 can carry out FEEDBACK CONTROL with the detection signal carrying out force sensor 20 to electro-motor 2 based on the command signal from not shown control device, thus can control hold.
In the present embodiment, owing to control circuit 5 to be housed in the inside of electric hand 100, thus all can be housed in controlling, driving the circuit of electric hand 100 in electric hand 100.Thus, make circuit structure become compact, and reduce the parts number of packages of circuit.Accompany therewith, the circuit of outside control device side can be simplified, and the cost of the entirety comprising control device can be reduced.On the other hand, when the power consumption of electro-motor 2 is difficult to motor drive circuit is installed on control circuit 5 greatly, such as, motor drive circuit is arranged at outside control device.Now, the signal that control circuit 5 is configured in the future force sensor 20 and rotation detector 7 exports outside control device to.Thereby, it is possible to the circuit structure in the electric hand 100 of reduced force sensor 20 and rotation detector 7, thus the miniaturization of electric hand 100 can be realized.
Herein, the structure of the force snesor 20 of the electric hand 100 for present embodiment is described.Fig. 3 is the force snesor 20 in the left side representing force snesor 20(such as Fig. 2) the major part enlarged drawing of Fig. 2 of structure.As shown in Figure 3, force snesor 20 has the fixed pedestal 21, opposed with fixed pedestal 21 and be configured at the movable base 22 of the below of fixed pedestal 21 and extend along the vertical direction and be connected and fixed the beam 23 of the pair of right and left tabular at the both ends, left and right of pedestal 21 and movable base 22 that upper surface is fixed on nut cap 13, is formed with spatial portion SP4 in the inner side of fixed pedestal 21, movable base 22 and a pair beam 23.In addition, the length of the fore-and-aft direction in each portion 21 ~ 23 is equal each other, such as identical with the fore-and-aft direction length (with reference to Fig. 1) of finger pedestal 3.Finger pedestal 3 is fixed at the lower surface of movable base 22, if finger 4 is with hold F holding object W, then as shown in shown by arrow, on finger pedestal 3, outside left and right directions, act on equal-sized external force (reaction force) F ' with hold F from object W, thus the beam 23 of force snesor 20 is bent.
The pair of electrodes block 24,25 of rectangular shape is configured with at spatial portion SP4.Fixed pedestal 21 is fixed in the upper surface of an electrode block 24, and movable base 22 is fixed in the lower surface of another electrode block 25, thus electrode block 24,25 is separated with configuring in parallel to each other with gap of regulation in the lateral direction.The mutually opposing face of electrode block 24,25 is formed with electrode 24a, 25a respectively.Between electrode 24a, 25a, there is clearance G P, force snesor 20 detects the electrostatic capacitance between electrode 24a, 25a corresponding with the size of clearance G P.The size of clearance G P changes according to the external force F ' of finger pedestal 3 loads, if the size variation of clearance G P, then and the electrostatic capacitance change between electrode 24a, 25a.Therefore, by detecting electrostatic capacitance, external force F ' i.e. hold F can be detected.
Electrode 24a, 25a are such as formed by bonding flexible printed circuit at electrode block 24,25.Also can extend this flexible printed circuit to be connected with control circuit 5, electrostatic capacitance can be detected with simple structure thus.When forming electrode 24a, 25b, also can carry out insulation processing to the surface of electrode block 24,25, and forming metal film by electroless plating etc.Force snesor 20 and an electrode block (such as 24) also can be made up of and ground connection metal material, detect the electrostatic capacitance relative to earthing potential.Thus, do not need an electrode 24a, thus can simplified construction.
In Fig. 3, if the axis extended along the above-below direction vertical with the axis L1 of left and right directions (such as by the axis of the left and right directions pars intermedia of feed screw 11) is set to L2, then the force snesor 20 of present embodiment has the parallel girder 23 of the pair of right and left extended in parallel with axis L2.If finger 4, with hold F holding object W then acts on finger 4 and hold F equal and opposite in direction and external force F ' towards the opposite (reaction force) in leading section.This external force F ' is via finger 4, finger pedestal 3, nut cap 13 and act on the support portion of the slide block 14 on guide 15.In the bang path of external force F ', the thickness of slab of the left and right directions of beam 23 is the thinnest, and beam 23 is easily out of shape in the lateral direction.Therefore, it is possible to detected the hold F of left and right directions well by force snesor 20 sensitivity.
When by finger 4 holding object W, force snesor 20 acts on bending moment via finger 4 and finger pedestal 3, at beam 23 compressive press forces and the tensile force of left and right.In this situation, beam 23 is difficult to distortion on above-below direction and long side direction, and the rigidity for bending moment is high.Therefore, force snesor 20 only can not detect to moment impact the hold F of left and right directions by bending.In addition, if the length variations of finger 4, or the holding change in location of the object W of the long side direction of finger 4, then act on force snesor 20 bending moment change, but force snesor 20 can with the size of bending moment independently precision detect the hold F in the opening and closing direction of finger 4 well.
As shown in Figure 2, in the present embodiment, above finger pedestal 3, configuration rotates the nut 12 of direct action converting mechanism 10, and is configured with slide block 14 above it.Namely, nut 12 is configured between finger pedestal 3 and slide block 14.According to this structure, the easily integration of nut 12 and slide block 14 can be made, compared with such as configuring slide block 14 above finger pedestal 3, configuring the situation of nut 12 above it, can structure be simplified, and also easily assemble.
In the present embodiment, due to by finger 4, finger pedestal 3, force snesor 20, nut cap 13 and slide block 14 integration, thus the maximum bending moment of the hold F of finger 4 to act on from finger 4 slide block 14 farthest.As in the present embodiment, according to the structure configuring nut 12 between finger pedestal 3 and slide block 14, the load of this bending moment can be alleviated.Below, this point is described.
The straight thrust of the nut 12 that the rotation of the hold F reason feed screw 11 of finger 4 causes and producing.The straight thrust of nut 12 inside left and right directions, in contrast, in finger 4 and the reaction force F ' acted on outside left and right directions from object.That is, rightabout power is to the left and right acted on mutually at nut 12 and finger 4.Therefore, by the hold F(reaction force F ' of finger 4) act on the direction (direction of rotation) of the bending moment (calling it as the first bending moment) of slide block 14 with mutually contrary in the direction of the bending moment (calling it as the second bending moment) of slide block 14 by the straight thrust of nut 12.Therefore, a part for the first bending moment is offset by the second bending moment, thus can alleviate the load caused by the bending moment acting on slide block 14.Its result, can improve the durability of the linear steering mechanism be made up of the combination of slide block 14 and guide 15.
On the other hand, such as when making the structure configuring slide block 14 between finger pedestal 3 and nut 12, the hold F(reaction force F ' by finger 4) act on the direction of the first bending moment of slide block 14 with mutually identical in the direction of the second bending moment of slide block 14 by the straight thrust of nut 12.Therefore, slide block 14 load first bending moment and the second bending moment and, thus cause the deterioration of the durability of linear steering mechanism.
According to the first embodiment, following action effect can be played.
(1) electric hand 100 is made up of such as lower component: electro-motor 2; The spinning movement of electro-motor 2 is transformed to the rotation direct action converting mechanism 10 of straight action; Via rotation direct action converting mechanism 10 with a pair finger pedestal 3 of axis L1 straight movement abreast; Be individually fixed in a pair finger pedestal 3 and come a pair finger 4 of holding object W by the straight movement of finger pedestal 3; And be located at a pair finger pedestal 3 and the force snesor 20 of the hold F of detection a pair finger 4.And force snesor 20 has the pair of parallel beam (beam 23) extended abreast relative to the axis L2 vertical with axis L1, the displacement based on parallel girder detects hold F.Thus, force snesor 20 is difficult to be subject to the impact such as temperature, timeliness change, thus can the hold F of precision when well and stably detecting finger 4 holding object W.In addition, owing to arranging force snesor 20 at the base portion (top) of the finger pedestal 3 installing finger 4, the power F ' thus acting on finger 4 is directly passed to force snesor 20, and then precision can detect hold F well.
(2) when adjusting hold by adjustment motor current, motor torque reduces due to the friction of transmission mechanism 6, rotation direct action converting mechanism 10, is thus difficult to precision and detects less hold F well.This aspect, in the present embodiment, owing to using the force snesor 20 with parallel girder, thus the detection sensitivity of hold F is excellent, and then can control hold F on a large scale.
(3) owing to utilizing the force snesor 20 of force snesor 20, i.e. the parallel girder structure with parallel girder to detect hold F, thus force snesor 20 can be difficult to the impact that is subject to from the bending moment of finger 4 and correctly detect hold F.That is, install and the object W finger 4 that length is different accordingly in electric hand 100, the length of bending moment and finger 4 changes pro rata, but parallel girder structure is little relative to the distortion of bending moment, thus precision only can detect hold F well.
(4) because the lower surface of finger 4 from electric hand 100 is given prominence to, thus in the situation etc. using electric hand 100, have and act on some impulsive force in finger 4 and act on the worry of the bending moment caused by impulsive force at force snesor 20.This aspect, in the present embodiment, owing to using the force snesor 20 of parallel girder structure, thus force snesor 20 also impact resistance, excellent in te pins of durability.
(5) rotate direct action converting mechanism 10 to be made up of such as lower component: along axis L1 extend and input from the feed screw 11 of the power of electro-motor 2; The nut 12 be screwed with feed screw 11; Cover the nut cap 13 of nut 12; Be fixed on the slide block 14 of the side face of nut cap 13; And the moving direction of restriction slide block 14 is to make the guide 15 of slide block 14 and axis L1 movement abreast, and, finger pedestal 3 be fixed on the side face of nut 12 and be fixed on the contrary side (bottom) of the radial direction at the position (top) being fixed with slide block 14.Thus, acted on the direction (direction of rotation) of the first bending moment of slide block 14 by the hold F of finger 4 with mutually contrary in the direction of the second bending moment of slide block 14 by the straight thrust of nut 12, thus the load caused by the bending moment acting on slide block 14 can be alleviated.
(6) owing to arranging the transmission mechanism 6 rotation of the output shaft 2a of electro-motor 2 being passed to feed screw 11, thus output shaft 2a can be made to configure electro-motor 2 towards the direction (left and right directions) parallel with axis L1 above rotation direct action converting mechanism 10, and then can compact formation electric hand 100.
(7) owing to linking the rotation detector 7 detected the rotation amount of feed screw 11 in the right part of feed screw 11, thus as electro-motor 2, the d.c. motor etc. of the cheapness of not built-in rotation detector 7 can be used.Link the transmission mechanism 6 of input from the power of electro-motor 2 in the left part of feed screw 11, and link rotation detector 7 in the heterochiral side (right side) of transmission mechanism 6, thus easily can carry out setting and the link of rotation detector 7.
(8) because force snesor 20 is formed as capacitance-type force sensor, and carry out the displacement of detect force sensor 20 by the change of electrostatic capacitance, thus can realize the miniaturization of electric hand 100, and assembling easily.
Second embodiment
With reference to Fig. 4, the second embodiment of the present invention is described.The special aspect different from the first embodiment of second embodiment is the structure of finger pedestal 3.That is, in the first embodiment, a pair finger pedestal 3 can be formed in left-right direction movably as movable finger pedestal, but in this second embodiment, one only in a pair finger pedestal 3 is configured to move.Such electric hand 100 is referred to as single open-type hand.
Fig. 4 is the sectional view of the major part structure of the electric hand 100 representing the second embodiment.In addition, for the symbol that the part mark identical with Fig. 2 is identical, below, mainly the aspect different from the first embodiment is described.As shown in Figure 4, in pair of right and left force snesor 20, the force snesor 20 on right side is fixed on the lower surface of rotation detector 7.Therefore, in the second embodiment, do not need the nut 12b on right side, nut cap 13 and slide block 14.In addition, feed screw 11 is such as only made up of the threaded portion 11a being formed with forward screw thread.
Thereby, it is possible to simplify the structure of electric hand 100, and, parts number of packages can be saved, can reduce costs.In addition, in the second embodiment, owing to the force snesor 20 on right side, finger pedestal 3 and finger 4 to be configured at the below of rotation detector 7, thus compared with Fig. 2, the length of the left and right directions of electric hand 100 can be shortened.The miniaturization of electric hand 100 can be realized thus.In addition, also rotation detector 7 can be separated with force snesor 20, and these parts are separately positioned on the inside of electric hand 100.
(variation)
In above-mentioned embodiment (Fig. 2, Fig. 4), at the base portion of the finger pedestal 3 of left and right, force snesor 20 is set respectively, but the power F ' acted on by the finger 4 of left and right owing to overcoming hold F is mutually equal, thus also only force snesor 20 can be set at any one finger pedestal 3.Such as at pedestal 3(movable finger, the finger pedestal with left side) to be separated with from this movable finger pedestal along the direction of axis L1 and the finger pedestal 3(on the right side arranged opposite with movable finger pedestal fixes finger pedestal) Fig. 4 structure in, if pedestal 3(movable finger, the finger pedestal in left side) force snesor 20 is not set, and fix finger pedestal at the finger pedestal 3(on right side) force snesor 20 is set, then the signal routing of force snesor 20 becomes easy, thus can reduce cost.
In above-mentioned embodiment (Fig. 2, Fig. 4), be made up of feed screw 11, nut 12, nut cap 13, slide block 14 and guide 15 and rotate direct action converting mechanism 10, but the structure rotating direct action converting mechanism 10 is not limited to said structure.Such as, replace feed screw 11 and nut 12, and rack-and-pinion can be used, also can use rotating cam.May not be movable base 22 and finger pedestal 3 that force snesor 20 is set respectively, but it can be used as parts to form, and finger pedestal 3 also can comprise force snesor 20.In addition, in Fig. 2, also finger pedestal 3, force snesor 20 and nut cap 13 can be made up of single part, in Fig. 4, also finger pedestal 3, force snesor 20 and rotation detector 7 can be made up of single part.That is, structure finger pedestal 3 being arranged force snesor 20 is not limited to the structure of above-mentioned embodiment.
In above-mentioned embodiment (Fig. 2, Fig. 4), nut cap 13 is fixed slide block 14, but also can omit nut cap 13, and fix slide block 14 at the side face of nut 12.That is, may not be and be wholely set nut 12 and nut cap 13 to form nut portions, and nut 12 monomer is configured to nut portions.In the above-described embodiment, at the fixing slide block 14 of the side face (top) of nut portions (nut cap 13), the side (bottom) contrary in the radial direction at the position being fixed with this slide block 14 arranges finger pedestal 3, but the configuration of nut portions, slide block 14 and finger pedestal 3 is not limited to this.
In above-mentioned embodiment (Fig. 2), be boundary with the left and right directions central portion of feed screw 11 forms forward screw thread and reverse thread on feed screw 11, but such as also can only form forward screw thread on feed screw 11, and make left and right nut 12 screwed hole towards mutual difference.In above-mentioned embodiment (Fig. 2, Fig. 4), link transmission mechanism 6 in the left part of feed screw 11, link rotation detector 7 in right part, but the configuration of transmission mechanism 6 and rotation detector 7 is also not limited to said structure.Also can replace rotation detector 7, other position detector is set to detect the position of finger 4.In the above-described embodiment, direct action converting mechanism 10(feed screw 11 is rotated) although the rotation of the output shaft 2a of electro-motor 2 be passed to via transmission mechanism 6, but also can omit transmission mechanism 6, and the rotation of electro-motor 2 is directly inputted into rotation direct action converting mechanism 10.
In above-mentioned embodiment, using along axis L1(first axle) a pair finger pedestal 3(Fig. 2 of straight movement) or single finger pedestal 3(Fig. 4) arrange as movable finger pedestal, and, arrange and have relative to axis L2(second axis vertical with axis L1) a pair beam 23(parallel girder extending abreast) force snesor 20(Fig. 3), if but first axle is mutually vertical with the second axis, then also can set at an arbitrary position.
Force snesor 20 is formed as static capacity type sensor, is detected the displacement of parallel girder by electrostatic capacitance, but also can replace it, and strain gauge can be used to form force snesor 20.In this situation, due to the distortion dividing generation larger at the root of beam 23, thus preferred bonded strain gage in its vicinity.Also can adhere to strain gauge in the plurality of positions of force snesor 20, not only detect hold F, also detect the load caused by moment.Force snesor 20 comprises a pair beam 23 be parallel to each other, but also can comprise the parallel beam of more than three.
Can be combined in above-mentioned embodiment and variation one or more.
According to the present invention, owing to keeping the finger pedestal of the finger of electric hand to arrange the force snesor with the pair of parallel beam vertically extended with the moving direction of finger pedestal, thus can precision well and the hold stably detected when finger holds holding object.Above, preferred embodiment relatively the present invention is described with it, but can carries out various correction and change in the open scope not departing from claims, this is that those skilled in the art can understand.
Claims (6)
1. power controls an electric hand, it is characterized in that possessing:
Electro-motor (2);
Rotate direct action converting mechanism (10), the spinning movement from described electro-motor is transformed to straight action;
A pair finger pedestal (3,3), comprise utilize the power of described electro-motor via described rotation direct action converting mechanism with movable finger pedestal (3) of first axle (L1) straight movement abreast;
A pair finger (4,4), is individually fixed on described a pair finger pedestal, and holds holding object by the straight mobile of described movable finger pedestal; And
Force snesor (20), is located at least one the finger pedestal in described a pair finger pedestal and detects the hold of described a pair finger,
Described force snesor has the pair of parallel beam (23,23) extended abreast relative to the second axis (L2) vertical with described first axle, be by electrostatic capacitance to detect the electrostatic capacity type force snesor of the displacement of described parallel girder, detect hold based on this parallel girder at the displacement in described first axle direction.
2. power according to claim 1 controls electric hand, it is characterized in that,
Described rotation direct action converting mechanism has:
Feed screw (11), extends abreast with described first axle, and input is from the power of described electro-motor;
Nut portions (12,13; 12), be combined with described feed screw spiral;
Slide block (14), is fixed on the side face of described nut portions; And
Guide (15), the moving direction limiting described slide block moves abreast to make described slide block and described first axle,
Described movable finger pedestal is arranged on the side face of described nut portions and is arranged on the contrary side of the radial direction at the position being fixed with described slide block.
3. power according to claim 2 controls electric hand, it is characterized in that,
Output shaft (2a) and the described first axle of described electro-motor extend abreast,
Also possesses the transmission mechanism (6) rotation of described output shaft being passed to described feed screw.
4. the power according to Claims 2 or 3 controls electric hand, it is characterized in that,
Also possess the position detector (7) of the position detecting described finger,
Described position detector has the rotation detector (7) being combined with an end of described feed screw and detecting the rotation amount of described feed screw.
5. the power according to any one of claims 1 to 3 controls electric hand, it is characterized in that,
Described a pair finger pedestal by described movable finger pedestal and on the direction of described first axle fixing finger pedestal (3) arranged opposite with described movable finger pedestal form.
6. power according to claim 4 controls electric hand, it is characterized in that,
Described a pair finger pedestal by described movable finger pedestal and on the direction of described first axle fixing finger pedestal (3) arranged opposite with described movable finger pedestal form.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-164706 | 2012-07-25 | ||
| JP2012164706A JP5543539B2 (en) | 2012-07-25 | 2012-07-25 | Force control electric hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103568015A CN103568015A (en) | 2014-02-12 |
| CN103568015B true CN103568015B (en) | 2015-04-15 |
Family
ID=49912339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310314716.4A Active CN103568015B (en) | 2012-07-25 | 2013-07-24 | Force-controlled electric hand |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9112385B2 (en) |
| JP (1) | JP5543539B2 (en) |
| CN (1) | CN103568015B (en) |
| DE (1) | DE102013107701A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP5543539B2 (en) | 2014-07-09 |
| US9112385B2 (en) | 2015-08-18 |
| JP2014024134A (en) | 2014-02-06 |
| DE102013107701A1 (en) | 2014-01-30 |
| US20140028118A1 (en) | 2014-01-30 |
| CN103568015A (en) | 2014-02-12 |
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